[components architecture and urdf examples] Add an example of a 12 DO… by olivier-stasse · Pull Request #24 · ros-controls/roadmap

olivier-stasse · 2020-08-28T13:35:01Z

…Fs legged robot

This example is based on a real life equivalent of Mini Cheetah.
It includes custom made power electronics with messages transmitting informations at 1Khz.

For each actuator
Command:

position
velocity
current (current or equivalent ) as a feedforward term
current limit (which can evolve according to the trajectory)
Kp
Kd
Sensor:
position
velocity
current
contact
resistance (to evaluate temperature)
contact (with the ground)

IMU:

angular velocity
acceleration
acceleration without gravity
orientation (provided by an embedded EKF)

More details at https://open-dynamic-robot-initiative.github.io/

bmagyar · 2020-09-09T06:15:33Z

design_drafts/components_architecture_and_urdf_examples.md

+      <commandInterfaceType>effort</commandInterfaceType>
+      <commandInterfaceType>Kp</commandInterfaceType>
+      <commandInterfaceType>Kd</commandInterfaceType>
+      <commandInterfaceType>effort_limit</commandInterfaceType>      


please follow the guidance on this ticket
#23

You can check #25 for examples

destogl

Some changes w.r.t #25

destogl · 2020-09-10T08:34:02Z

design_drafts/components_architecture_and_urdf_examples.md

  * Data for all joints is exchanged in batch (at once)
  * Multiple values can be commanded, e.g. goal position and the maximal velocity on the trajectory allowed
-  * Examples: (humanoid robots?)
+  * Examples: humanoid robots (TALOS), 4 legged robot [solo](https://github.com/open-dynamic-robot-initiative/master-board/blob/master/documentation/BLMC_%C2%B5Driver_SPI_interface.md)


I would propose to add this long example on the end of the file. Can you open a new subsection with a name "Real robot Examples" and than add yours. It would be also good to reference to this example 2.1.

The intention behind this is that user can fast scroll through all different examples and on the end have real-world use-cases to study them.

Any you can simply name the example "TALOS" as this is the name of the robot.

Good to me. To be a bit more precise, TALOS and the 4 legged robot (SOLO) are two different robots. SOLO is mostly to highlight an original way to access the low level power electronics.

Then you are free to choose which one you think is more relevant and describe it

destogl · 2020-09-10T09:00:15Z

design_drafts/components_architecture_and_urdf_examples.md

+      <commandInterfaceType>effort</commandInterfaceType>
+      <commandInterfaceType>Kp</commandInterfaceType>
+      <commandInterfaceType>Kd</commandInterfaceType>
+      <commandInterfaceType>effort_limit</commandInterfaceType>      


You can check #25 for examples

destogl · 2020-09-10T09:03:29Z

design_drafts/components_architecture_and_urdf_examples.md

 ```

+```xml
+  <ros2_control name="12DOF_Legged_System_Robot_MultiInterface" type="system">


Please use capitalized CamelCase in the names. We will also change this in #25

e.g. "12DoFLeggedSystemRobotMultiInterface"

destogl · 2020-09-10T09:04:13Z

design_drafts/components_architecture_and_urdf_examples.md

+```xml
+  <ros2_control name="12DOF_Legged_System_Robot_MultiInterface" type="system">
+    <hardware>
+      <classType>ros2_control_demo_hardware/2DOF_System_Hardware_MultiInterface_MultiWrite</classType>


here also capitalized CamelCase:

"2DoFSystemHardwareMultiInterfaceMultiWrite"

Oh, here we should use different name:

either: "ros2_control_demo_hardware/12DoFSystemHardwareMultiInterfaceMultiWrite"

or event better:

"talos_control/TalosSystemHardware" or "talos_control/TalosRobotHardware" (choose one you prefer)

Of course we should than create talos_control package at some point.

destogl · 2020-09-10T09:09:17Z

design_drafts/components_architecture_and_urdf_examples.md

+      <param name="example_param_read_for_sec">0.001</param>
+    </hardware>
+    <joint name="front_left_leg_joint1">
+      <classType>ros2_control_components/MultiInterfaceJoint_MultiWrite</classType>


also capitalized CamelCase:

"MultiInterfaceMultiWriteJoint" (we will rename this in #25)

destogl · 2020-09-10T09:10:08Z

design_drafts/components_architecture_and_urdf_examples.md

+      <commandInterfaceType>position</commandInterfaceType>
+      <commandInterfaceType>velocity</commandInterfaceType>
+      <commandInterfaceType>effort</commandInterfaceType>
+      <commandInterfaceType>Kp</commandInterfaceType>


also add here some min/max values is such exist.

…Fs legged robot This example is based on a real life equivalent of Mini Cheetah. It includes custom made power electronics with messages transmitting informations at 1Khz. For each actuator Command: * position * velocity * current (current or equivalent ) as a feedforward term * current limit (which can evolve according to the trajectory) * Kp * Kd Sensor: * position * velocity * current * contact * resistance (to evaluate temperature) * contact (with the ground) IMU: * angular velocity * acceleration * acceleration without gravity * orientation (provided by an embedded EKF) More details at https://open-dynamic-robot-initiative.github.io/

Put min max parameters for each command interface Add real robot example

destogl · 2020-11-13T15:32:40Z

@bmagyar Thanks for merging this!

bmagyar reviewed Sep 9, 2020

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destogl requested changes Sep 10, 2020

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olivier-stasse and others added 3 commits October 22, 2020 11:46

[components architecture and urdf examples] Real robot example Solo

9f12934

Put min max parameters for each command interface Add real robot example

Touch up 10DoF example

24aeb9e

bmagyar force-pushed the master branch from 41bdd7d to 24aeb9e Compare October 22, 2020 10:47

bmagyar approved these changes Oct 22, 2020

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bmagyar merged commit 49a00aa into ros-controls:master Oct 22, 2020

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olivier-stasse commented Aug 28, 2020

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destogl commented Nov 13, 2020

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